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<a href="#pub-types">Public Types</a> &#124;
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<div class="title">blmc_robots::SingleMotor Class Reference</div>  </div>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:ac383dc0615dcb6b6fb1470b517561c63"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac383dc0615dcb6b6fb1470b517561c63"></a>
typedef Eigen::Matrix&lt; double, 1, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Vector1d</b></td></tr>
<tr class="separator:ac383dc0615dcb6b6fb1470b517561c63"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a586b21d344037450dca9b11c8a6882b9"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a586b21d344037450dca9b11c8a6882b9"></a>
typedef Eigen::Matrix&lt; double, 1, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>VectorSlider</b></td></tr>
<tr class="separator:a586b21d344037450dca9b11c8a6882b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a074ba2d9a982316a4aecac65b7c1b581"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#a074ba2d9a982316a4aecac65b7c1b581">SingleMotor</a> ()</td></tr>
<tr class="memdesc:a074ba2d9a982316a4aecac65b7c1b581"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classblmc__robots_1_1SingleMotor.html">SingleMotor</a> is the constructor of the class.  <a href="#a074ba2d9a982316a4aecac65b7c1b581">More...</a><br /></td></tr>
<tr class="separator:a074ba2d9a982316a4aecac65b7c1b581"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2c547957aec36d6cbd02ead4882558d4"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2c547957aec36d6cbd02ead4882558d4"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#a2c547957aec36d6cbd02ead4882558d4">initialize</a> ()</td></tr>
<tr class="memdesc:a2c547957aec36d6cbd02ead4882558d4"><td class="mdescLeft">&#160;</td><td class="mdescRight">initialize the robot by setting aligning the motors and calibrate the sensors to 0 <br /></td></tr>
<tr class="separator:a2c547957aec36d6cbd02ead4882558d4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2fa43cd18da7598b8a41da66ef9251ff"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2fa43cd18da7598b8a41da66ef9251ff"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#a2fa43cd18da7598b8a41da66ef9251ff">send_target_motor_current</a> (const Eigen::Ref&lt; Vector1d &gt; target_motor_current)</td></tr>
<tr class="memdesc:a2fa43cd18da7598b8a41da66ef9251ff"><td class="mdescLeft">&#160;</td><td class="mdescRight">send_target_torques sends the target currents to the motors <br /></td></tr>
<tr class="separator:a2fa43cd18da7598b8a41da66ef9251ff"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a09a829c726847cf4e8fd34175ce1a139"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a09a829c726847cf4e8fd34175ce1a139"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#a09a829c726847cf4e8fd34175ce1a139">send_target_joint_torque</a> (const Eigen::Ref&lt; Vector1d &gt; target_joint_torque)</td></tr>
<tr class="memdesc:a09a829c726847cf4e8fd34175ce1a139"><td class="mdescLeft">&#160;</td><td class="mdescRight">send_target_torques sends the target currents to the motors <br /></td></tr>
<tr class="separator:a09a829c726847cf4e8fd34175ce1a139"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adbc3fb18b62ee085ff2d4d6bb2f107a4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#adbc3fb18b62ee085ff2d4d6bb2f107a4">acquire_sensors</a> ()</td></tr>
<tr class="memdesc:adbc3fb18b62ee085ff2d4d6bb2f107a4"><td class="mdescLeft">&#160;</td><td class="mdescRight">acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any gettter to have up to date data.  <a href="#adbc3fb18b62ee085ff2d4d6bb2f107a4">More...</a><br /></td></tr>
<tr class="separator:adbc3fb18b62ee085ff2d4d6bb2f107a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac72b1daab642097f739ccdcb8388d6c9"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; Vector1d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#ac72b1daab642097f739ccdcb8388d6c9">get_motor_positions</a> ()</td></tr>
<tr class="memdesc:ac72b1daab642097f739ccdcb8388d6c9"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_positions  <a href="#ac72b1daab642097f739ccdcb8388d6c9">More...</a><br /></td></tr>
<tr class="separator:ac72b1daab642097f739ccdcb8388d6c9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8ee1b2b7d9b5bf83cd43511836e6074a"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; Vector1d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#a8ee1b2b7d9b5bf83cd43511836e6074a">get_motor_velocities</a> ()</td></tr>
<tr class="memdesc:a8ee1b2b7d9b5bf83cd43511836e6074a"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_velocities  <a href="#a8ee1b2b7d9b5bf83cd43511836e6074a">More...</a><br /></td></tr>
<tr class="separator:a8ee1b2b7d9b5bf83cd43511836e6074a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab3330ea642ca97c094f2af7b50a7a747"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; Vector1d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#ab3330ea642ca97c094f2af7b50a7a747">get_motor_currents</a> ()</td></tr>
<tr class="memdesc:ab3330ea642ca97c094f2af7b50a7a747"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_currents  <a href="#ab3330ea642ca97c094f2af7b50a7a747">More...</a><br /></td></tr>
<tr class="separator:ab3330ea642ca97c094f2af7b50a7a747"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af48038f9bc14cb4971d3f1aa54573daf"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; Vector1d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#af48038f9bc14cb4971d3f1aa54573daf">get_motor_target_currents</a> ()</td></tr>
<tr class="memdesc:af48038f9bc14cb4971d3f1aa54573daf"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_target_currents  <a href="#af48038f9bc14cb4971d3f1aa54573daf">More...</a><br /></td></tr>
<tr class="separator:af48038f9bc14cb4971d3f1aa54573daf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a375565046712276a1f3bd941078a44fb"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; Vector1d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#a375565046712276a1f3bd941078a44fb">get_motor_torques</a> ()</td></tr>
<tr class="memdesc:a375565046712276a1f3bd941078a44fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_torques  <a href="#a375565046712276a1f3bd941078a44fb">More...</a><br /></td></tr>
<tr class="separator:a375565046712276a1f3bd941078a44fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5fe1f45ebb4893b1b31e1f0f23fb48e2"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; Vector1d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#a5fe1f45ebb4893b1b31e1f0f23fb48e2">get_target_motor_torques</a> ()</td></tr>
<tr class="memdesc:a5fe1f45ebb4893b1b31e1f0f23fb48e2"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_target_motor_torques  <a href="#a5fe1f45ebb4893b1b31e1f0f23fb48e2">More...</a><br /></td></tr>
<tr class="separator:a5fe1f45ebb4893b1b31e1f0f23fb48e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7126966be33a93491dcf10d62f711768"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; Vector1d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#a7126966be33a93491dcf10d62f711768">get_motor_inertias</a> ()</td></tr>
<tr class="memdesc:a7126966be33a93491dcf10d62f711768"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_inertias  <a href="#a7126966be33a93491dcf10d62f711768">More...</a><br /></td></tr>
<tr class="separator:a7126966be33a93491dcf10d62f711768"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1a7ff027c499ed3fc164a399e5b498e1"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; Vector1d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#a1a7ff027c499ed3fc164a399e5b498e1">get_motor_encoder_indexes</a> ()</td></tr>
<tr class="memdesc:a1a7ff027c499ed3fc164a399e5b498e1"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_encoder_indexes  <a href="#a1a7ff027c499ed3fc164a399e5b498e1">More...</a><br /></td></tr>
<tr class="separator:a1a7ff027c499ed3fc164a399e5b498e1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac368bb72104b1a2e076142d4002740fb"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; Vector1d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#ac368bb72104b1a2e076142d4002740fb">get_motor_torque_constants</a> ()</td></tr>
<tr class="memdesc:ac368bb72104b1a2e076142d4002740fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_torque_constants  <a href="#ac368bb72104b1a2e076142d4002740fb">More...</a><br /></td></tr>
<tr class="separator:ac368bb72104b1a2e076142d4002740fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4d458d18608fbca78baf6331d27a431b"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; Vector1d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#a4d458d18608fbca78baf6331d27a431b">get_joint_positions</a> ()</td></tr>
<tr class="memdesc:a4d458d18608fbca78baf6331d27a431b"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_joint_positions  <a href="#a4d458d18608fbca78baf6331d27a431b">More...</a><br /></td></tr>
<tr class="separator:a4d458d18608fbca78baf6331d27a431b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9a2997aaadecda0b30530d8d5afeaddf"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; Vector1d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#a9a2997aaadecda0b30530d8d5afeaddf">get_joint_velocities</a> ()</td></tr>
<tr class="memdesc:a9a2997aaadecda0b30530d8d5afeaddf"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_joint_velocities  <a href="#a9a2997aaadecda0b30530d8d5afeaddf">More...</a><br /></td></tr>
<tr class="separator:a9a2997aaadecda0b30530d8d5afeaddf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7ac6ae993e59e6f2ea5f83a643184a9e"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; Vector1d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#a7ac6ae993e59e6f2ea5f83a643184a9e">get_joint_torques</a> ()</td></tr>
<tr class="memdesc:a7ac6ae993e59e6f2ea5f83a643184a9e"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_joint_torques  <a href="#a7ac6ae993e59e6f2ea5f83a643184a9e">More...</a><br /></td></tr>
<tr class="separator:a7ac6ae993e59e6f2ea5f83a643184a9e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a261200917e713211fa7652b1157eafa1"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; Vector1d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#a261200917e713211fa7652b1157eafa1">get_joint_target_torques</a> ()</td></tr>
<tr class="memdesc:a261200917e713211fa7652b1157eafa1"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_joint_torques  <a href="#a261200917e713211fa7652b1157eafa1">More...</a><br /></td></tr>
<tr class="separator:a261200917e713211fa7652b1157eafa1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8ec5c8ba70bc93ff728300e868755546"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; Vector1d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#a8ec5c8ba70bc93ff728300e868755546">get_joint_gear_ratios</a> ()</td></tr>
<tr class="memdesc:a8ec5c8ba70bc93ff728300e868755546"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_joint_gear_ratios  <a href="#a8ec5c8ba70bc93ff728300e868755546">More...</a><br /></td></tr>
<tr class="separator:a8ec5c8ba70bc93ff728300e868755546"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab73b8091a40e846a1b6c08ac1d8e0db8"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; Vector1d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#ab73b8091a40e846a1b6c08ac1d8e0db8">get_joint_encoder_index</a> ()</td></tr>
<tr class="memdesc:ab73b8091a40e846a1b6c08ac1d8e0db8"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_joint_encoder_index  <a href="#ab73b8091a40e846a1b6c08ac1d8e0db8">More...</a><br /></td></tr>
<tr class="separator:ab73b8091a40e846a1b6c08ac1d8e0db8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3a753c2c1b7b82bd716caa4fc3b5f5f0"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; Vector1d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#a3a753c2c1b7b82bd716caa4fc3b5f5f0">get_zero_positions</a> ()</td></tr>
<tr class="memdesc:a3a753c2c1b7b82bd716caa4fc3b5f5f0"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_zero_positions  <a href="#a3a753c2c1b7b82bd716caa4fc3b5f5f0">More...</a><br /></td></tr>
<tr class="separator:a3a753c2c1b7b82bd716caa4fc3b5f5f0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9c0f3d4686e13d2a8a668a8c26f0bd00"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; Vector1d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#a9c0f3d4686e13d2a8a668a8c26f0bd00">get_slider_positions</a> ()</td></tr>
<tr class="memdesc:a9c0f3d4686e13d2a8a668a8c26f0bd00"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_slider_positions  <a href="#a9c0f3d4686e13d2a8a668a8c26f0bd00">More...</a><br /></td></tr>
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<tr class="memitem:a5768cce6fef657b36648ea68fdbb3ed8"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; Vector1d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#a5768cce6fef657b36648ea68fdbb3ed8">get_max_current</a> ()</td></tr>
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<tr class="memitem:af83ef444bdd1eebdac1df6d8035d2b75"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; Vector1d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#af83ef444bdd1eebdac1df6d8035d2b75">get_max_joint_torque</a> ()</td></tr>
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<tr class="memitem:af2add59e3d08949c658568b6d161b5ba"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html#af2add59e3d08949c658568b6d161b5ba">set_max_current</a> (const Eigen::Ref&lt; Vector1d &gt; max_current)</td></tr>
<tr class="memdesc:af2add59e3d08949c658568b6d161b5ba"><td class="mdescLeft">&#160;</td><td class="mdescRight">set_max_current sets the maximum current that the motor can to apply.  <a href="#af2add59e3d08949c658568b6d161b5ba">More...</a><br /></td></tr>
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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<p><a class="el" href="classblmc__robots_1_1SingleMotor.html">SingleMotor</a> is the constructor of the class. </p>
<p>Motor data</p>
<p>Joint data</p>
<p>Additional data</p>
<p>Setup some known data</p>

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<h2 class="groupheader">Member Function Documentation</h2>
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<p>acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any gettter to have up to date data. </p>
<p>Motor data</p>
<p>Joint data</p>
<p>Additional data</p>

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<p>get_joint_encoder_index </p>
<dl class="section return"><dt>Returns</dt><dd>The last observed encoder index in joint coordinates. </dd></dl>

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<p>get_joint_gear_ratios </p>
<dl class="section return"><dt>Returns</dt><dd>the joint gear ratios </dd></dl>

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<p>get_joint_positions </p>
<dl class="section return"><dt>Returns</dt><dd>the joint angle of each module </dd></dl>

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<p>get_joint_torques </p>
<dl class="section return"><dt>Returns</dt><dd>the target joint torques </dd></dl>

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<p>get_joint_torques </p>
<dl class="section return"><dt>Returns</dt><dd>the joint torques </dd></dl>

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<p>get_joint_velocities </p>
<dl class="section return"><dt>Returns</dt><dd>the joint velocities </dd></dl>

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<p>get_max_current </p>
<dl class="section return"><dt>Returns</dt><dd>the max current that has been hard-coded in the constructor of this class. TODO: parametrize this via YAML or something else. </dd></dl>

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<p>get_max_torque </p>
<dl class="section return"><dt>Returns</dt><dd>the max torque that has been hard-coded in the constructor of this class. TODO: parametrize this via YAML or something else. </dd></dl>

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<p>get_motor_currents </p>
<dl class="section return"><dt>Returns</dt><dd>the current motors currents in (Ampere: A). </dd></dl>

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<p>get_motor_encoder_indexes </p>
<dl class="section return"><dt>Returns</dt><dd>the position of the index of the encoders a the motor level </dd></dl>

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<p>get_motor_inertias </p>
<dl class="section return"><dt>Returns</dt><dd>the motor inertias </dd></dl>

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<p>get_motor_positions </p>
<dl class="section return"><dt>Returns</dt><dd>the current motors positions (rad). </dd></dl>

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<p>get_motor_target_currents </p>
<dl class="section return"><dt>Returns</dt><dd>the target current motors currents in (Ampere: A). </dd></dl>

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<p>get_motor_torque_constants </p>
<dl class="section return"><dt>Returns</dt><dd>the torque constants of each motor </dd></dl>

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<p>get_motor_torques </p>
<dl class="section return"><dt>Returns</dt><dd>the motor torques in Nm </dd></dl>

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<p>get_motor_velocities </p>
<dl class="section return"><dt>Returns</dt><dd>the current motors velocities (rad/s). </dd></dl>

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<p>get_slider_positions </p>
<dl class="section return"><dt>Returns</dt><dd>the current sliders positions. </dd></dl>

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<p>get_target_motor_torques </p>
<dl class="section return"><dt>Returns</dt><dd>the target motor torques in Nm </dd></dl>

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<p>get_zero_positions </p>
<dl class="section return"><dt>Returns</dt><dd>the position where the robot should be in "zero" configuration </dd></dl>

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          <td class="memname">void blmc_robots::SingleMotor::set_max_current </td>
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<p>set_max_current sets the maximum current that the motor can to apply. </p>
<dl class="params"><dt>Parameters</dt><dd>
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<hr/>The documentation for this class was generated from the following files:<ul>
<li>/workspace/software/workspace/src/catkin/robots/blmc_robots/include/blmc_robots/<a class="el" href="single__motor_8hpp_source.html">single_motor.hpp</a></li>
<li>/workspace/software/workspace/src/catkin/robots/blmc_robots/src/single_motor.cpp</li>
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